1. install ros-kinetic-desktop

2. execute following commands:

    sudo apt-get install ros-kinetic-gmapping
   
    sudo apt-get install ros-kinetic-navigation
   
    sudo apt-get install ros-kinetic-hector-slam
   
    sudo apt-get install ros-kinetic-tf2-sensor-msgs
   
    sudo apt-get install ros-kinetic-openni-camera
   
    sudo apt-get install ros-kinetic-openni-launch
   
    sudo apt-get install libopenni-sensor-primesense0
   
    sudo apt-get install ros-kinetic-audio-common
   
    sudo apt-get install libasound2
   
    sudo apt-get install gstreamer0.10-*
   
    sudo apt-get install python-gst0.10